Science – Future of Lithuania / Mokslas – Lietuvos Ateitis, Vol 4, No 1 (2012)

Robot Gait Selection According to the Average Standard Deviation of Feet Coordinates

Tomas Luneckas


The article analyzes a possibility of selecting robot gait according to the average standard deviation of z coordinate of its feet. First, terrain irregularity is categorized and linked to robot leg dimensions. Height limits are determined for none, low/average, high, very high and impassable terrain roughness. Average standard deviation limits are experimentally determined for categorized terrain roughness. Also, rules for gait selection are established. The key disadvantages of such gait selection are named and a probable solution to the problem is given.

Article in Lithuanian

Article in: Lithuanian

Article published: 2012-04-23

Keyword(s): hexapod robot; terrain roughness; gait selection; average standard deviation

DOI: 10.3846/mla.2012.11

Full Text: PDF pdf

Science – Future of Lithuania / Mokslas – Lietuvos Ateitis ISSN 2029-2341, eISSN 2029-2252
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 License.